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Proceedings Paper

Pose estimation of occluded objects with an improved template matching method
Author(s): J. H. Su; Z. Y. Liu; G. Yang
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Paper Abstract

Picking up objects in arbitrary poses is an important step in manufacturing. However, the occlusion of object will cause the picking process difficult. This paper presents a hierarchical detection method to estimate the pose of the object such as rod and bearing even in occluding. Combining the ellipse detection with the template matching, it is possible to identify the pose of a target object that is not be occluded. The propose method will enable a robot to grasp a non-occluded object and ensure a successful picking. Experiments witness the validity the method.

Paper Details

Date Published: 11 July 2016
PDF: 5 pages
Proc. SPIE 10011, First International Workshop on Pattern Recognition, 1001115 (11 July 2016); doi: 10.1117/12.2242706
Show Author Affiliations
J. H. Su, Institute of Automation (China)
Z. Y. Liu, Institute of Automation (China)
G. Yang, Beijing Jiaotong Univ. (China)

Published in SPIE Proceedings Vol. 10011:
First International Workshop on Pattern Recognition
Xudong Jiang; Guojian Chen; Genci Capi; Chiharu Ishll, Editor(s)

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